/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Author : Dula Nad
 *  Created: 01.02.2013.
 *********************************************************************/
#ifndef SENSORCOLLECTION_HPP_
#define SENSORCOLLECTION_HPP_

#include "SensorInterface.hpp"

#include <dlfcn.h>

namespace plugin
{
  class DLLoad
  {
    typedef void (*FactoryCreator)(plugin::SensorList& list, plugin::ROSInterfaceList& rlist);

  public:
    /**
     * Main constructor. Loads the specified DLL and extracts the creator function.
     */
    DLLoad(const std::string& pluginName, std::string creatorName = "registerSensors"):
    	factory(0)
    {
      libraryHandle = dlopen(("lib" + pluginName + ".so").c_str(),RTLD_NOW);
      const char* error = dlerror();
      if (libraryHandle)
      {
        this->factory = reinterpret_cast<FactoryCreator>(dlsym(libraryHandle,creatorName.c_str()));
        if ((error = dlerror()) != NULL)
        {
          throw std::runtime_error(error);
        }
      }
      else
      {
       throw std::runtime_error(error);
      }
    };

    inline void operator()(plugin::SensorList& list, plugin::ROSInterfaceList& rlist)
    {
    	this->factory(list,rlist);
    }

    ~DLLoad()
    {
      if (libraryHandle)
      {
        dlclose(libraryHandle);
      }
    };

  private:
    /**
     * Loaded library handle.
     */
    void* libraryHandle;
    FactoryCreator factory;
  };

	//This should actually be a set to avoid same sensor definitions to be added ?
	//void registerSensors(plugin::SensorList& list, plugin::ROSInterfaceList& rlist);
}

#endif /* SENSORCOLLECTION_HPP_ */
